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... int minPulse = 600; int maxPulse = 2400;...
9V alkaline batteries can be convenient for their high voltage in a small size, but the energy density (watt-hours per given volume or weight) is the same as other batteries with the same chemistry, which means the capacity in amp-hours is low. In approximately the same size as an AA cell, you get six times the voltage, so you also get about six times less in the Ah rating, or about 500 mAh. Given the high losses incurred from discharging in anything under a few hours, 9V batteries are impractical for most motors and therefore for most robots.